version: 66.07
glider: 543
mission: 9
dive: 11
start: 12 2 113 14 5 35
data:
$ID,543
$MISSION,9
$DIVE,11
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,235
$T_MISSION,260
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,-800
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12435.866
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1680
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.073162
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00023287861
$GPS1,021213,135834,-4259.945,846.498,24,0.9,24,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.1
$GPS2,021213,140512,-4259.908,846.550,18,1.6,18,-25.1
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4259.908,831.784
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,295.1,20000,-17.4,-9.929
$D_GRID,700
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.56,-146.1,0.0,0.0,0,74,0.00,0.00,-57.00,0.000,2,0.000,0.000,66,2793,2876,0,0,0,0,0,0
$GC,76,-0.56,-146.1,3.2,-4.6,7,93,5.55,0.00,-4.65,0.000,6,0.223,0.000,1490,2793,3071,0,0,0,0,0,0
$GC,142,-0.56,-146.1,20.2,-21.9,17,148,0.00,1.92,0.00,0.000,4,0.000,0.066,1482,3950,3073,0,0,0,0,0,0
$GC,328,-0.56,-146.1,64.9,-25.0,49,335,0.00,1.80,0.00,0.000,6,0.000,0.041,1482,2797,3073,0,0,0,0,0,0
$GC,669,-0.56,-146.1,129.4,-18.0,95,672,0.00,1.88,0.00,0.000,4,0.000,0.066,1474,3946,3075,0,0,0,0,0,0
$GC,934,-0.56,-146.1,187.5,-22.3,118,937,0.00,1.77,0.00,0.000,6,0.000,0.040,1474,2798,3075,0,0,0,0,0,0
$GC,1266,-0.56,-146.1,251.4,-19.8,149,1270,0.00,2.17,0.00,0.000,4,0.000,0.042,1474,1393,3075,0,0,0,0,0,0
$GC,1456,-0.56,-146.1,282.7,-16.2,165,1461,0.12,2.30,0.00,0.000,6,0.167,0.058,1495,2805,3076,0,0,0,0,0,0
$GC,1782,-0.56,-146.1,340.6,-17.5,195,1786,0.00,1.85,0.00,0.000,4,0.000,0.067,1488,3953,3076,0,0,0,0,0,0
$GC,2047,-0.56,-146.1,395.7,-20.3,218,2051,0.00,1.75,0.00,0.000,6,0.000,0.040,1488,2795,3076,0,0,0,0,0,0
$GC,2380,-0.56,-146.1,455.0,-17.0,235,2384,0.00,2.15,0.00,0.000,4,0.000,0.043,1488,1401,3076,0,0,0,0,0,0
$GC,2557,-0.56,-146.1,479.5,-13.2,243,2561,0.00,2.28,0.00,0.000,6,0.000,0.058,1477,2805,3076,0,0,0,0,0,0
$GC,2885,-0.56,-146.1,533.7,-16.4,259,2888,0.00,1.83,0.00,0.000,4,0.000,0.067,1468,3946,3076,0,0,0,0,0,0
$GC,3143,-0.56,-146.1,586.0,-21.1,270,3148,0.00,1.80,0.00,0.000,6,0.000,0.040,1468,2796,3076,0,0,0,0,0,0
$GC,3467,-0.56,-146.1,641.3,-16.8,286,3472,0.12,2.17,0.00,0.000,4,0.187,0.044,1499,1399,3076,0,0,0,0,0,0
$GC,3628,-0.56,-146.1,660.5,-10.5,293,3633,0.00,2.30,0.00,0.000,6,0.000,0.059,1490,2805,3075,0,0,0,0,0,0
$STATE,3930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3930,begin apogee
$GC,3933,-0.14,0.0,702.9,14.3,308,4074,0.47,0.00,134.95,1.627,6,0.156,0.000,1631,2805,2473,0,0,0,0,0,0
$STATE,4074,end apogee,CONTROL_FINISHED_OK
$STATE,4074,begin climb
$GC,4076,0.56,146.1,709.0,0.0,315,4222,0.73,2.50,137.00,1.580,4,0.117,0.043,1862,1402,1877,0,0,0,0,0,0
$GC,4396,0.56,149.4,681.9,9.8,329,4401,0.00,2.40,0.00,0.000,6,0.000,0.057,1862,2793,1872,0,0,0,0,0,0
$GC,4726,0.56,149.4,643.9,11.4,345,4729,0.00,1.90,0.00,0.000,4,0.000,0.066,1862,3953,1868,0,0,0,0,0,0
$GC,4984,0.56,149.4,606.5,14.9,356,4989,0.00,1.85,0.00,0.000,6,0.000,0.041,1871,2800,1866,0,0,0,0,0,0
$GC,5308,0.56,149.4,566.8,12.2,372,5312,0.00,1.92,0.00,0.000,4,0.000,0.067,1871,3958,1866,0,0,0,0,0,0
$GC,5566,0.56,149.4,526.2,15.3,383,5572,0.00,1.85,0.00,0.000,6,0.000,0.041,1880,2798,1865,0,0,0,0,0,0
$GC,5890,0.56,149.4,484.2,12.8,399,5894,0.00,1.88,0.00,0.000,4,0.000,0.067,1880,3950,1865,0,0,0,0,0,0
$GC,6147,0.56,149.4,442.4,16.1,410,6153,0.00,1.83,0.00,0.000,6,0.000,0.041,1889,2797,1864,0,0,0,0,0,0
$GC,6470,0.56,149.4,399.1,12.9,426,6473,0.00,1.88,0.00,0.000,4,0.000,0.067,1889,3950,1864,0,0,0,0,0,0
$GC,6736,0.56,149.4,358.1,15.3,449,6740,0.15,1.77,0.00,0.000,6,0.212,0.042,1863,2799,1864,0,0,0,0,0,0
$GC,7067,0.56,149.4,323.4,10.3,480,7071,0.00,2.20,0.00,0.000,4,0.000,0.046,1872,1390,1863,0,0,0,0,0,0
$GC,7258,0.57,169.6,306.3,9.0,496,7285,0.00,2.30,19.38,1.420,6,0.000,0.058,1873,2806,1781,0,0,0,0,0,0
$GC,7602,0.57,169.6,265.9,12.4,528,7605,0.00,1.85,0.00,0.000,4,0.000,0.067,1873,3944,1779,0,0,0,0,0,0
$GC,7867,0.57,169.6,223.3,16.6,551,7871,0.00,1.77,0.00,0.000,6,0.000,0.041,1881,2802,1778,0,0,0,0,0,0
$GC,8199,0.57,169.6,176.7,13.5,582,8203,0.00,1.88,0.00,0.000,4,0.000,0.066,1881,3956,1778,0,0,0,0,0,0
$GC,8465,0.57,169.6,133.2,15.2,605,8468,0.00,1.80,0.00,0.000,6,0.000,0.040,1890,2790,1777,0,0,0,0,0,0
$GC,8797,0.57,169.6,88.2,13.0,643,8804,0.00,1.88,0.00,0.000,4,0.000,0.065,1890,3950,1777,0,0,0,0,0,0
$GC,9063,0.57,169.6,46.8,15.0,689,9071,0.12,1.77,0.00,0.000,6,0.212,0.041,1871,2792,1778,0,0,0,0,0,0
$GC,9422,0.57,169.6,6.6,11.0,750,9430,0.00,1.88,0.00,0.000,4,0.000,0.065,1871,3940,1777,0,0,0,0,0,0
$STATE,9455,end climb,SURFACE_DEPTH_REACHED
$STATE,9455,begin surface coast
$FINISH,0.2,1.014483
$STATE,9481,end surface coast,CONTROL_FINISHED_OK
$STATE,9481,begin surface
$SM_CCo,9494,19.52,0.790,0,0,1575,220.03
$SM_GC,2.52,0.00,0.00,19.52,0.000,0.000,0.790,64,2792,1575,-5.05,-0.23,220.03
$IRIDIUM_FIX,-4244.98,842.76,021213,111152
$TT8_MAMPS,0.026215
$HUMID,62.36
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,23.1,2.527
$10V_AH,10.2,1.466
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.150,66.875,291.325,19.525,0.000,27.696,45.685,228.244,0.000,0.000,20.925,1923.785,4195.990,340.033,3339.887,120.719,0.000,1230.868,0.000,3024.610,0.000,1.012,0.000
$DEVICE_MAMPS,222.615,67.320,1627.155,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.970,656.506,2126.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355252
$DATA_FILE_SIZE,46974,759
$CAP_FILE_SIZE,98214,0
$CFSIZE,259252224,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021213,164514,-4259.622,847.976,33,1.0,33,-25.1